Touch sense interface and method for controlling touch sense interface

• US 20030146898A1
• Filed: 07/23/2002
• Published: 08/07/2003
• Est. Priority Date: 02/07/2002
• Status: Active Grant

• Current Assignee: GIFU University
• Original Assignee: GIFU University
• Inventors: Mouri, Tetsuya, Ito, Satoshi, Kawasaki, Haruhisa
• Granted Patent: US 7,027,031 B2
• Time in Patent Office: Days
• US Class Current: 345/156
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: B25J 13/081 Touching devices, e.g. pressure-sensitive
• CPC Class Codes: B25J 15/0009 comprising multi-articulated fingers, e.g. resembling a human hand
• CPC Class Codes: G06F 3/014 Hand-worn input/output arrangements, e.g. data gloves
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

A touch sense interface provided with an arm mechanism including an arm joint, a touch sense finger base arranged in the arm mechanism, and touch sense fingers arranged on the base. The touch sense fingers each include a fingertip engaging portion, which engages an operator'"'"'s finger, and a finger joint. A first detection unit detects the position and posture of the operator'"'"'s hand to generate a position and posture detection signal. A control unit, which is connected to the first detection unit, controls the arm joint in accordance with the position and posture detection signal and arranges the base opposed to the hand of the operator. A second detection unit, which is electrically connected to the control unit, detects the movement of each fingertip and generates a movement detection signal. The control unit controls the active finger joint in accordance with the movement detection signal.

Claims

1. A touch sense interface comprising:

an arm mechanism including an active arm joint;

a touch sense finger base arranged in the arm mechanism;

a plurality of touch sense fingers arranged on the touch sense finger base, wherein the touch sense fingers each includes an active finger joint and a fingertip engaging portion, which engages a fingertip of a corresponding finger of an operator;

a first detection unit for detecting the position and posture of a hand of the operator to generate a position and posture detection signal;

a control unit electrically connected to the first detection unit, wherein the control unit controls the active arm joint in accordance with the position and posture detection signal and arranges the touch sense finger base so that it is opposed to the hand of the operator; and

a second detection unit electrically connected to the control unit to detect the movement of each fingertip and generate a movement detection signal, wherein the control unit controls the active finger joint in accordance with the movement detection signal.

2. The touch sense interface according to claim 1, wherein the second detection unit includes a plurality of force sensors, each arranged in correspondence with one of the touch sense fingers to detect forces acting in multiple axial directions and generate a corresponding force detection signal, which serves as the movement detection signal, and wherein the control unit force feedback controls each active finger joint in accordance with the corresponding force detection signal to control the force applied to the fingertips of the operator.

3. The touch sense interface according to claim 2, wherein the control unit performs the force feedback control based on the force detection signal so that the force applied to the fingertips of the operator is nullified.

4. The touch sense interface according to claim 1, wherein the arm mechanism has six or more degrees of freedom.

5. The touch sense interface according to claim 1, wherein each touch sense finger has three or more degrees of freedom.

6. The touch sense interface according to claim 1, wherein the fingertip engaging portion is located at a distal end of each touch sense finger.

7. The touch sense interface according to claim 6, wherein the fingertip engaging portion includes a passive ball joint, which rolls freely at the distal end of each touch sense finger, and a finger holder, which is connected to the passive ball joint and engages the corresponding fingertip of the operator.

8. The touch sense interface according to claim 7, wherein each touch sense finger includes an attraction unit for attracting the passive ball joint.

9. The touch sense interface according to claim 8, wherein the attraction unit is a magnetic force generation unit for attracting the passive ball joint with magnetic force.

10. The touch sense interface according to claim 9, wherein the magnetic force generation unit is a permanent magnet.

11. The touch sense interface according to claim 9, wherein the magnetic force generation unit is an electromagnet, and the interface further comprises a magnetic force control unit for adjusting the magnetic force of the electromagnet in accordance with the control signal.

12. The touch sense interface according to claim 1, wherein the first detection unit includes a sensor arranged in the touch sense finger base to detect a position and posture of hand of the operator and generate a position and posture detection signal.

13. The touch sense interface according to claim 1, wherein the position of the hand of the operator is represented by an origin position of a coordinate system formed by three orthogonal axes, and the posture of the hand is represented by three rotational angles about the three axes.

14. A touch sense interface comprising:

an arm mechanism including a plurality of active arm joints and an arm connected between the active arm joints;

a touch sense finger base connected to one of the active arm joints;

a plurality of touch sense fingers arranged on the touch sense finger base, wherein the touch sense fingers each have a plurality of active finger joints, including a first active finger joint, that are connected to the touch sense finger base;

a plurality of links connected between the active finger joints;

a fingertip engaging portion arranged on a distal end of one of the links to engage a fingertip of a corresponding finger of an operator;

a first detection unit for detecting the position and posture of a hand of the operator to generate a position and posture detection signal;

a control unit electrically connected to the first detection unit, wherein the control unit controls the active arm joint in accordance with the position and posture detection signal and arranges the touch sense finger base opposed to the hand of the operator; and

a second detection unit electrically connected to the control unit to detect the movement of each fingertip and generate a movement detection signal, wherein the control unit controls the active finger joints of each touch sense finger in accordance with the movement detection signal.

15. The touch sense interface according to claim 14, wherein the control unit controls the active arm joints so that the touch sense finger base is arranged symmetric to or substantially symmetric to the hand of the operator about a hypothetical plane, which is formed by at least three of the fingertips of the operator in accordance with the position and posture detection signal.

16. The touch sense interface according to claim 14, wherein the second detection unit includes a plurality of force sensors, each arranged in correspondence with one of the touch sense fingers to detect forces acting in multiple axial directions and generate a force detection signal, which serves as the movement detection signal, and wherein the control unit force feedback controls the active finger joints in accordance with the force detection signal to control the force applied to the fingertips of the operator.

17. The touch sense interface according to claim 16, wherein the control unit performs the force feedback control based on the force detection signal so that the force applied to the fingertips of the operator is nullified.

18. A method for controlling a touch sense interface including an arm mechanism having an active arm joint, a touch sense finger base arranged in the arm mechanism, and a plurality of touch sense fingers arranged on the touch sense finger base, wherein the touch sense fingers each have a fingertip engaging portion, which engages a fingertip of a corresponding finger of an operator, and an active finger joint, the method comprising the steps of:

detecting a position and posture of a hand of the operator; and

controlling the active arm joint so that the touch sense finger base is arranged symmetric to or substantially symmetric to the hand of the operator about a hypothetical plane, which is formed by at least three of the fingertips of the operator in accordance with the position and posture detection signal.

19. The method according to claim 18, wherein the detecting step includes detecting the position and posture of the operator with a sensor, wherein the sensor is arranged on the hand of the operator to detect the position and posture of the hand.

20. The method according to claim 18, further comprising the steps of:

detecting movement of each fingertip of the operator; and

controlling the active finger joint in accordance with the detected fingertip movement.